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Improved Stability Results for Visual Tracking of Robotic Manipulators Based on the Depth-Independent Interaction Matrix

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IEEE TRANSACTIONS ON ROBOTICS 2011年第2期27卷 371-379页

作者： Liang, Xinwu Huang, Xinhan Wang, Min Zeng, Xiangjin Huazhong Univ Sci & Technol Key Lab Image Proc & Intelligent Control Educ Minist China Dept Control Sci & Engn Wuhan 430074 Peoples R China

As we know, the dynamic visual-tracking control, which is based on the depth-independent interaction matrix, has been proposed to cope with the general 3-D motion of robot manipulators. To deal with the unknown camera parameters, an adaptive law has been designed. It is noted, however, that the designed adaptive law uses a vector signal defined by the true depths of feature points, which are unavailable when the camera parameters are unknown. Nevertheless, such an adaptive law can still be implemented by replacing the exact depths with the estimated depths, since the estimated depths can be readily calculated by using the estimated values of the camera parameters. In this case, however, we cannot definitely say whether or not the robot system can be guaranteed to achieve asymptotical stability or even stable behavior. To overcome this problem, in this paper, we redefine the mentioned vector signal using the estimated depths and show that the design based on the new vector signal can make the robot system asymptotically stable. Additionally, the existing tracking control design based on the concept of depth-independent interactionmatrix is initial-state dependent. Thus, in this paper, we also modify the existing design to obtain an initial-state-independent result. To show the performance of the proposed designs, simulation results based on a two-link planar manipulator are presented. In addition, preliminary experimental results using an industrial manipulator are also given.

关键词： Adaptive robot control depth-independent interaction matrix uncalibrated camera visual tracking

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Spiking neural P systems for arithmetic operations

Spiking neural P systems for arithmetic operations

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6th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2011

作者： Zeng, Xiangxiang Song, Tao Pan, Linqiang Zhang, Xingyi Key Laboratory on Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Key Lab of Intelligent Computing and Signal Processing School of Computer Science and Technology Anhui University Hefei 230039 China

ISBN: (纸本)9780769545141

Recently, Gutiérrez-Naranjo and Leporati considered performing basic arithmetic operations on a new class of bioinspired computing devices - spiking neural P systems (for short, SN P systems). However, the binary encoding mechanism used in their research looks like the encoding approach in electronic circuits, instead of the style of spiking neurons (in usual SN P systems, information are encoded as the time interval between spikes). In this work, three SN P systems are constructed as adder, subtracter and multiplier, respectively. In these devices, a number is inputted to the system as the interval of time elapsed between two spikes received by input neuron, the result of a computation is the time between the moments when the output neuron spikes. © 2011 IEEE.

关键词： Encoding (symbols)

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A tube length measurement device based on acoustic method

A tube length measurement device based on acoustic method

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2011 IEEE International conference on intelligent Computation and Bio-Medical Instrumentation, ICBMI 2011

作者： Chen, Yimin Qi, Jian Zhang, Xuming Ding, Mingyue Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769546230

A low-cost device using acoustic method for measuring open-end tube length is developed. The proposed device is aimed to get the length of the tubes which are piled up together, and only one end of which is available in the warehouse or dumping areas. The device contains the emitting and receiving probes to echo the sound pulse and receive the reflection sound wave, and has been developed with discrete component circuits whose key part is the logical control circuit based on ARM. Experiments are performed in the open tubes with the lengths between 0.85m to 6m. The measurement error is below 0.5cm. For the tubes blocked by the cement or earth, the device can detect the location of obstruction automatically. Based on the acoustic method, experiments are also conducted in the blocked tubes based on Matlab software, and the analysis of the reflection wave is given. © 2011 IEEE.

关键词： MATlab

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An improved non-local means filter for image denoising

An improved non-local means filter for image denoising

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2011 IEEE International conference on intelligent Computation and Bio-Medical Instrumentation, ICBMI 2011

作者： Zhan, Yi Ding, Mingyue Xiao, Feng Zhang, Xuming Key Laboratory of Image Processing and Intelligent Control of Education Ministry of China Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9780769546230

This paper proposes a improved non-local means (NLM) filter for image denoising. Due to the drawback that the similarity is computed based on the noisy image, the traditional NLM method easily generates the artifacts in case of high-level noise. The proposed method first preprocesses the noisy image by Gaussian filter. Then, a moving window at each pixel of the noisy image is chosen as the search window, and meanwhile, a improved calculation method of spatial distance based on the preprocessed image is used for computing the similarity. Finally, combining the improved distance with search window based on the noisy image, the intensity of each pixel is restored as the traditional NLM method. The standard images are used to evaluate restoration performance of the proposed method. Additionally, the application on medical image denoising also demonstrates that our method is practical. © 2011 IEEE.

关键词： image denoising

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Adaptive tracking control of rigid-link flexible-joint robot manipulator with uncertainties

Adaptive tracking control of rigid-link flexible-joint robot...

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作者： Liu, Chao Xiang, Xianbo Poignet, Philippe Montpellier 34095 France Key Laboratory for Image Processing and Intelligent Control Huazhong University of Science and Technology 430074 China

ISBN: (纸本)9783902661937

Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the rigid-link flexible-joint (RLFJ) robot system. Adaptive observers are designed to avoid acceleration measurements due to the fourth-order overall system dynamics. Convergence of both end-effector tracking errors and observing errors are proven and sufficient conditions are presented to guarantee system's asymptotic stability. © 2011 IFAC.

关键词： Asymptotic stability

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P systems with 2D picture grammars

P systems with 2D picture grammars

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6th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2011

作者： Song, Tao Zeng, Xiangxiang Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China

ISBN: (纸本)9780769545141

In formal language theory of two-dimensions, 2D picture grammars are powerful tools to generate picture languages. In this work, we incorporate the idea of membrane systems (also called P systems) into 2D picture grammars, thus introducing a new kind of picture language generating devices, named P systems with 2D picture grammars. Inspired by the structure and functioning of living cells, such a system has a hierarchical membrane structure, symbol array objects and evolution rules of 2D picture grammars. In each region delimited by the membrane structure, array objects can evolve in a parallel manner according to evolution rules present in the region, like the way biochemical objects evolve in living cells or organisms. The computational result of P system with 2D picture grammars is the set of pictures (rectangular arrays) present in a specific output membrane when the system halts. We obtain several comparison results, which show that with the membrane structure, the generating power of Siromoney matrix grammar, 2D contextfree grammar and basic puzzle grammar can be enlarged. © 2011 IEEE.

关键词： Membrane structures

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-Gain analysis of event-triggered networked control systems: a discontinuous Lyapunov functional approach

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International Journal of Robust and Nonlinear control 2012年第11期23卷

作者： Songlin Hu Dong Yue Department of Control Science and Engineering and the Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan 430074 China

In this paper, the problems of exponential stability and -gain analysis of event-triggered networked control systems (NCSs) with network-induced delays are studied. We first propose event-triggering conditions in the sensor side and controller side, respectively. Because the implementation of our event-triggering scheme only needs periodic supervision of the system state at the constant sampling instants, instead of being monitored continuously, it is expected that the scheme will improve the resource utilization. Taking the network-induced delays into account and using delay system approach, we constructed a unified model of NCSs with hybrid event-triggering schemes. On the basis of this model, sufficient conditions for the exponential stability and -gain analysis are developed in the form of LMIs by using a discontinuous Lyapunov–Krasovskii functional approach. Moreover, the corresponding results can be further extended to more general cases, where the system matrices of the considered plant contain parameter uncertainties, represented in either polytopic or norm-bounded frameworks. In addition, as a special case, we also present the exponential stability, -gain analysis, and the control feedback gain design of event-triggered NCSs without considering the effects of network-induced delays and event-triggering condition in the controller side. Finally, a simulation example is provided to illustrate the usefulness and effectiveness of the proposed hybrid event-triggering *** © 2012 John Wiley & Sons, Ltd.

关键词： event-triggering exponential stability -gain Lyapunov–Krasovskii functional NCSs

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Approximate Jacobian control of robot manipulators without joint velocity measurements

Approximate Jacobian control of robot manipulators without j...

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IEEE International Conference on Cyber Technology in Automation,control,and intelligent Systems

作者： Liang, Xinwu Huang, Xinhan Wang, Min Key Laboratory of Image Processing and Intelligent Control Dept. of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 Hubei China

ISBN: (纸本)9781612849102

So far, all of the approximate Jacobian controllers for robot manipulators proposed in the literatures have assumed that the exact joint velocity measurements are available. In this paper, we propose alternative controller designs without the use of joint velocity measurements. To provide the joint velocities used by the controllers, we introduce the well-known sliding mode observers to estimate the robot manipulator states. In addition, Lyapunov analysis is presented to show that the combined controller-observer designs can achieve asymptotical stability in the sliding patch. Simulation results are also presented to show the performance of the proposed methods. © 2011 IEEE.

关键词： Velocity measurement

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NEAT versus PSO for evolving autonomous multi-agents coordination on pursuit-evasion problem

NEAT versus PSO for evolving autonomous multi-agents coordin...

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2011 3rd International Asia Conference on Informatics in control, Automation and Robotics, CAR 2011

作者： Zhao, Jin Peng, Gang Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China Key Laboratory of Image Processing and Intelligent Control of Education Ministry China

ISBN: (纸本)9783642259913

A method based on multi-agents and ANN (Artificial Neural Network) was proposed to solve the pursuit-evasion task in continuous time-varying environment. According to this method, several autonomous agents with 8 circular sector sensors and an ANN controller were used to form a coordinated behavior to capture the evaders. To evolve the controller, NEAT (NeuroEvolution of Augmenting Topologies) and PSO (Particle Swarm Optimization) method were used to optimize the network. The simulation experiments show that both methods can successfully evolve the controller to capture the evaders, while NEAT requires less swarm members and consume less time comparing to PSO method. © 2011 Springer-Verlag.

关键词： controllers

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Evidence supporting measure of similarity for reducing the complexity in information fusion

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INFORMATION SCIENCES 2011年第10期181卷 1818-1835页

作者： Li, Xinde Dezert, Jean Smarandache, Florentin Huang, Xinhan Southeast Univ Key Lab Measurement & Control CSE Sch AutomatMinst Educ Nanjing 210096 Peoples R China Off Natl Etud & Rech Aerosp F-92320 Chatillon France Univ New Mexico Chair Math Gallup NM 87301 USA Univ New Mexico Dept Sci Gallup NM 87301 USA Huazhong Univ Sci & Technol Image Proc & Intelligent Control Key Lab Image Proc & Intelligent Control Key Lab Educ Minist China Wuhan 430074 Peoples R China

This paper presents a new method for reducing the number of sources of evidence to combine in order to reduce the complexity of the fusion processing. Such a complexity reduction is often required in many applications where the real-time constraint and limited computing resources are of prime importance. The basic idea consists in selecting. among all sources available. only a subset of sources of evidence to combine. The selection is based on an evidence supporting measure of similarity (ESMS) criterion which is an efficient generic tool for outlier sources identification and rejection. The ESMS between two sources of evidence can be defined using several measures of distance following different lattice structures. In this paper, we propose such four measures of distance for ESMS and we present in details the principle of Generalized Fusion Machine (GEM). Then we apply it experimentally to the real-time perception of the environment with a mobile robot using sonar sensors. A comparative analysis of results is done and presented in the last part of this paper. (C) 2010 Elsevier Inc. All rights reserved.

关键词： Information fusion Belief function Complexity reduction Robot perception DSmT Measure of similarity Distance Lattice

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